#ifndef _PATROL_H_
#define _PATROL_H_

#include "motion.hpp"
#include <cstring>
#include <fstream>
#include <iostream>
#include <sstream>
#include <thread>
#include <unistd.h>
#include <vector>

struct Coordinate {
    double x;
    double y;
    double yaw;
};

class Patrol {
private:
    bool running = false;
    std::thread handle;
    std::vector<Coordinate> coords;
    Motion motion;

public:
    Patrol();
    ~Patrol();
    void thread();
    void start();
    void stop();
    void msleep(int ms);
    std::vector<Coordinate> parse(const std::string& filename);
};

#endif
